Systems and methods for unmanned aerial vehicles

ABSTRACT

An unmanned aerial system (UAS) may comprise an unmanned aerial vehicle (UAV) configured to search and recover persons and things, collect and produce data of an emergency situation for display on a vehicle navigation system, or explore for natural resources. The UAS may include a landing pad, and/or a sensor such as a ground penetrating sensor configured to search for a person trapped underground. The UAS may be configured to receive data from the one or more sensors. An analyzer may be used to assess surrounding environment and the status of the person or thing, and send a signal to the UAV. The components attached to the UAV may include connectors, a robotic arm, a sensor, and/or a portable power source. The UAS may be configured to, for example, detect an emergency situation and determine the nature and location of the emergency situation. The UAS may be configured to explore for oil, gas, and mineral sources, and/or excavate location using a robotic arm.

RELATED APPLICATIONS

This application claims priority to U.S. Provisional Application Nos.62/354,159 (filed Jun. 24, 2016) and 62/356,004 (filed Jun. 29, 2016),which are incorporated herein by reference in their entirety.

BACKGROUND Technical Field

This disclosure relates generally to unmanned aerial vehicles. Morespecifically, this disclosure relates to systems and methods forsearching and recovering a person or thing and providing a trafficcontrol.

Background Description

The use of unmanned aerial vehicles (UAVs), also referred to as drones,has increased drastically in popularity throughout the last decade whileconsumer UAVs have decreased in price. Other technologies, such aslightweight cameras with high resolutions and smart phones configured tocontrol Unmanned Aerial Systems (UASs) (e.g., UAVs and associatedsystems), have further increased the speed at which consumers adoptthese devices.

Today, many industries make use of UASs such as film makers, oilplatform workers, militaries, and law enforcement. For example, filmmakers and television producers may use UASs that carry cameras tocapture video that they otherwise could not capture using low-costcamera rigs. As opposed to using a platform or cable-suspended camerasystem to acquire overhead views, UASs may fly into the air and, withthe help of a remote display, capture video from an overhead angle.Similarly, oil platform workers are able to use UASs to view portions ofoil platforms that may need repair, without the need for a worker to putthemselves in a dangerous position. For example, a UAS may fly around anoil platform over water, which eliminates the risks faced by workershanging over an edge of a platform by a rope to examine platformsupports. Military and law enforcement, likewise, may use UASs to gatherintelligence without placing themselves in dangerous positions wherethey may be injured. UASs allow military and law enforcement to viewareas from overhead without risking the life of a pilot or a personattempting to enter a potentially dangerous area.

As technology continues to improve and decrease in cost, an increasingamount of hobbyists are using UASs for various purposes. Hobbyists useUASs to capture overhead video of their homes, which was previouslydifficult to achieve at such a low cost. Hobbyists may also use thevideo capturing capabilities of UASs to capture video of themselves asthey hike up a mountain, skate board down a hill, or go river rafting.In some UASs, a UAV may be configured to automatically hover at aparticular height and distance from a remote control such as a smartphone or a radio transmitter. Thus, as a hobbyist rolls down a hill orfloats down a river, they are able to single-handedly obtain aprofessional looking video that is taken from a fixed distance andheight.

One problem of UASs is their ability to perform tasks in remotelocations without human intervention, such as investigation of naturalor man-made disaster and evacuation activities. Searching and rescuingstranded persons or things is typically performed by teams in emergencyvehicles. Similarly, investigation and evidence preservation of a crimescene is typically performed by officers who subsequently arrive at thescene. The timeliness and effectiveness of these activities frequencydepends on various factors such as the weather and the hazardouscondition. These operations can be also limited by the availability ofhelicopters and officers. Accessing scenes by a helicopter or a cargenerally involves risks. For example, stormy weather may prohibitdispatch of a helicopter. Icy road conditions may delay rescue EMT'sactivities. Or there may not be enough helicopters in a mass-casualtysituation.

UAVs may overcome some of the shortfalls of manned search, recovery, andrescue systems. UAVs used in rescue and investigations may not need anoperator on the scene and may be able to assess the scene and search theobject to be recovered without using human eyes. Thus, there is a needin the art for a UAV configured to search, recover, and rescue a personin need of rescue without human observation on site.

Another problem faced by UASs is their ability to perform tasks thatwould normally be done by multiple different systems, such as trafficcontrol and notification. In response to an emergency event, such as atraffic accident, first responders may have difficulty locating theaccident, alerting oncoming traffic, and diverting traffic such that theemergency responders can safely perform their duties. The use of UAVs intraffic control and notification may increase the safety and flexibilityinvolved in responding to an emergency event.

UAVs used in traffic control may typically be small in size andportable. But these UAVs must be able to carry equipment such as LEDscreens, projectors, and occasionally heavier equipment. Due to theirsize, UAVs often require small, lightweight batteries that tend to runout of power quickly. In particular, the heavier a UAV and its payloadis, the faster it typically runs out of power. To overcome this problem,tethers are often used to power UAVs. Tethered UASs are able to operatefor longer periods of time without running out of power. However,tethers often introduce their own problems such as portability. Forexample, a tether may be connected to a power converter, which in turnmay need to be connected to a power source, such as an electricaloutlet. In such an example, a UAV's range is limited to the length ofthe tether and a power cord connecting the converter to an outlet. Thus,there is a need in the art for a UAV configured to provide advertisingto be able to carry heavy equipment and/or fly for extended periods oftime, without being limited by its distance from a fixed power source.

The present disclosure is directed toward improvements in existingtechnologies for unmanned aerial systems.

SUMMARY

In an exemplary embodiment, the present disclosure is directed to anunmanned aerial system (UAS) that includes an unmanned aerial vehicle(UAV) and a sensor. In some embodiments, the sensor may be a groundpenetrating sensor. The UAV may be configured to receive data from thesensor to determine a location, for example an underground depth, of aperson or thing. In some embodiments, the thing searched for may be anatural resource. The UAV may be configured to land on a landing pad ina control center. In some embodiments, the UAV may be configured toreceive power and data through Power Over Ethernet (POE). The UAV mayalso be configured to measure physiological parameters of the personusing a robotic arm and determine a severity of an injury or disease.The UAS may be configured to detect an emergency situation and transmitan alert indicating the location and nature of the emergency situationto a vehicle. The UAV may also be configured to obtain data of theemergency situation and transmit the data for reconstruction of thescene.

In another exemplary embodiment, the present disclosure is directed to amethod of search and recovery by a UAV. The method may includenavigating to an area and searching for a person or thing using one ormore sensors. The one or more sensors may include a ground penetratingsensor and the area may be a predetermined area. The method may includerecovering the person or the thing using a carrying component. Themethod may further include scanning an area for a person in need ofrescue using the one or more sensors and capturing data from the one ormore sensors during the scanning, analyzing the captured data todetermine whether there is a person in need of rescue and determining alocation of the person in need of rescue based on the analyzed data.

In another exemplary embodiment, the present disclosure is directed to amethod of emergency situation alert by a UAV. The method may includenavigating to the emergency situation and searching for a person orthing using one or more sensors. The method may also include assessingconditions around the emergency situation and creating data for displayon a vehicle navigation system or communication device to inform a userof the emergency situation. The method may comprise receiving dataindicating the emergency situation. The method may include detecting theemergency situation using the one or more sensors. The method may alsoinclude determining a nature and a location of the emergency situationusing the one or more sensors. The method may include transmitting thedata to notify a person or a vehicle of the emergency situation.

Additional objects and advantages of the present disclosure will be setforth in part in the following detailed description, and in part will beobvious from the description, or may be learned by practice of thepresent disclosure. The objects and advantages of the present disclosurewill be realized and attained by means of the elements and combinationsparticularly pointed out in the appended claims.

It is to be understood that the foregoing general description and thefollowing detailed description are exemplary and explanatory only, andare not restrictive of the disclosed embodiments.

BRIEF DESCRIPTION OF DRAWINGS

The accompanying drawings, which comprise a part of this specification,illustrate several embodiments and, together with the description, serveto explain the disclosed principles. In the drawings:

FIG. 1 illustrates exemplary unmanned aerial vehicles, consistent withdisclosed embodiments.

FIG. 2 illustrates an exemplary unmanned aerial system having a portablepower source and a tether, consistent with disclosed embodiments.

FIG. 3 illustrates an exemplary unmanned aerial system having a portablepower source and a tether, consistent with disclosed embodiments.

FIG. 4 illustrates exemplary remote controls, consistent with disclosedembodiments.

FIG. 5 illustrates a block diagram of an exemplary unmanned aerialsystem, consistent with disclosed embodiments.

FIG. 6 illustrates an exemplary portable power source and tether,consistent with disclosed embodiments,

FIG. 7 illustrates an exemplary unmanned aerial system having aconnector, consistent with disclosed embodiments.

FIG. 8 illustrates an exemplary unmanned aerial system having a camera,consistent with disclosed embodiments.

FIG. 9 illustrates an exemplary unmanned aerial system having a roboticarm, consistent with disclosed embodiments.

FIG. 10 illustrates an exemplary unmanned aerial system havingquick-disconnect battery, consistent with disclosed embodiments.

FIG. 11 illustrates an exemplary environment including an unmannedaerial vehicle and a traffic control message, consistent with disclosedembodiments.

FIG. 12 illustrates an exemplary environment including unmanned aerialvehicles and display screens for traffic control, consistent withdisclosed embodiments.

FIG. 13 illustrates an exemplary environment including unmanned aerialvehicles and light projectors, consistent with disclosed embodiments.

FIG. 14 illustrates an exemplary environment including an unmannedaerial vehicle and portable elevated platform, consistent with disclosedembodiments.

FIG. 15 illustrates an exemplary environment including an unmannedaerial vehicle and communication device, consistent with disclosedembodiments.

FIG. 16 illustrates an exemplary environment including an unmannedaerial vehicle and communication device, consistent with disclosedembodiments.

FIG. 17 shows a flowchart of a method of traffic control, consistentwith disclosed embodiments.

FIG. 18 illustrates an exemplary environment, including a UAV, a controlcenter, landing pads, consistent with disclosed embodiments.

FIG. 19 illustrates an exemplary environment for scene reconstruction,consistent with disclosed embodiments.

FIG. 20 illustrates an exemplary environment for finding a buriedperson, consistent with disclosed embodiments.

FIG. 21 illustrates an exemplary environment for searching for asubmerged person, consistent with disclosed embodiments.

FIG. 22 illustrates an exemplary environment for exploring for naturalresources, consistent with disclosed embodiments.

FIG. 23 illustrates an exemplary environment, having a UAV capturingdata of an accident to transmit an alert to vehicles and a communication

FIG. 24 is a flowchart showing a method of navigating a UAV andsearching for a person or thing.

FIG. 25 is a flowchart showing a method of searching for a person orthing and connecting the UAV for power and communication.

FIG. 26 is a flowchart showing a method of searching for and recoveringa person or thing.

FIG. 27 is a flowchart showing a method of searching for a person inneed of rescue.

FIG. 28 is a flowchart showing a method of searching for a naturalresource.

FIG. 29 is a flowchart showing a method of collecting data of anemergency situation and creating data for display on a vehiclenavigation system or communication device.

FIG. 30 is a flowchart showing a method of measuring physiologicalparameters of a person.

DETAILED DESCRIPTION

Exemplary embodiments are described with reference to the accompanyingdrawings. In the figures, the left-most digit(s) of a reference numberidentifies the figure in which the reference number first appears.Wherever convenient, the same reference numbers are used throughout thedrawings to refer to the same or like parts. While examples and featuresof disclosed principles are described herein, modifications,adaptations, and other implementations are possible without departingfrom the spirit and scope of the disclosed embodiments. Also, the words“comprising,” “having,” “containing,” and “including,” and other similarforms are intended to be equivalent in meaning and be interpreted asopen ended, in that, an item or items following any one of these wordsis not meant to be an exhaustive listing of such item or items, or meantto be limited to only the listed item or items.

As used in this application and in the claims, the singular forms “a,”“an,” and “the” include the plural forms unless the context clearlydictates otherwise. Additionally, the term “includes” means “comprises.”Further, the term “coupled” does not exclude the presence ofintermediate elements between the coupled items.

The systems and methods described herein should not be construed aslimiting in any way. Instead, the present disclosure is directed towardall novel and non-obvious features and aspects of the various disclosedembodiments, alone and in various combinations and sub-combinations withone another. The disclosed systems and methods are not limited to anyspecific aspect or feature or combinations thereof, nor do the disclosedsystems and methods require that any one or more specific advantages bepresent or problems be solved. Any theories of operation are tofacilitate explanation, but the disclosed systems, methods, andapparatus are not limited to such theories of operation.

Although the operations of some of the disclosed methods are describedin a particular, sequential order for convenient presentation, it shouldbe understood that this manner of description encompasses rearrangement,unless a particular ordering is required by specific language set forthbelow. For example, operations described sequentially may in some casesbe rearranged or performed concurrently. Moreover, for the sake ofsimplicity, the attached figures may not show the various ways in whichthe disclosed systems, methods, and apparatus can be used in conjunctionwith other systems, methods, and apparatus. Additionally, thedescription sometimes uses terms like “produce” and “provide” todescribe the disclosed methods. These terms are high-level abstractionsof the actual operations that are performed. The actual operations thatcorrespond to these terms will vary depending on the particularimplementation and are readily discernible by one of ordinary skill inthe art.

Reference will now be made in detail to the drawings. Herein, the terms“unmanned aerial vehicle” or “UAV” will generally refer to the poweredflying portion of an “unmanned aerial system” or “UAS.” For example, aUAV may be a quadcopter, while a UAS may be a quadcopter, a tether, aportable power source, and a remote control. Other types of UAVs and/orUASs are consistent with this disclosure, such as, for example,single-propeller UAVs, fixed wing UAVs, UAVs with variable propellerpitches, UAVs with multiple propellers (e.g., 2, 4, 6, 8), UAVs withturbine engines, etc.

Systems and methods consistent with the present disclosure are directedto a UAS comprising a UAV configured to perform functions to controltraffic in response to an emergency event. Various UAVs described hereinmay be configured to remain airborne for long periods of time and fly indiverse weather conditions. In some embodiments, a UAV may be housed ona platform attached to an emergency response vehicle. In someembodiments, the UAV may carry a display screen and be configured toprovide a warning message in the area. In some embodiments, the UAV maybe configured to collect and transmit data about an emergency event to aremote device. In some embodiments, a portable power source may bephysically connected to a tether capable of transmitting power and data,which may in turn be connected to the UAV. In some embodiments, aportable power source may comprise one or more batteries, generators,solar panels, or other components that acquire, store, and/or transmitpower to a UAV. The portable power source may be a stand-alone devicethat is small enough to be transported in, for example, an automobile.The power source may be removed from a vehicle, activated, and connectedto a UAV to power it for longer periods of time than a battery withinthe UAV itself. In other embodiments, the UAV may house a battery, whichmay be quickly charged or swapped out to increase flight time.

In some embodiments, the UAV may include a connector that allowsexternal components to attach to the UAV. A connector may be configuredto allow a UAV to carry external components. For example, externalcomponents may include a screen, robotic arm, projectors, platforms,etc. External components may be used to display warning messages tonearby traffic over a large area for a period of time.

In some embodiments, the UAV may land on an elevated landing area, aportable landing area, a remote landing area, or the like. For example,in some embodiments, the landing area may include a portable powersource and be elevated such that the UAV may land or otherwise be storedsuch that it is not damaged. As another example, the landing area may beportable landing area that can be driven or remotely controlled to driveto a predetermined area. As another example, the landing area may be ata remote location and provide shelter for the UAV to protect it fromweather or other damage. In some embodiments, the UAS may comprisefunctionality that causes the UAV to land on a landing padautomatically. For example, a UAV may fly for a particular period oftime and, in response to an adverse weather condition, initiate alanding process wherein the UAV automatically lands on the landing padwithout additional operator input. As another example, a UAV may fly fora predetermined amount of time and then automatically land on thelanding pad. In some embodiments, the landing area (e.g., a platform,hanger, other surface, etc.) may be included in the UAS.

FIG. 1 illustrates exemplary unmanned aerial vehicles 100 according tosome embodiments of the present disclosure. FIG. 1 includes a side viewof a UAV 110A, a top view of a UAV 1106 with four propellers, a UAV 110Chaving a rearward facing propeller, and a UAV 110D having largerpropellers with propeller guards that contact one another. ExemplaryUAVs 110A, 1106, and 110D may be referred to as quadcopters, although itshould be appreciated that a UAV could have any number of propellers orother thrust generators. For example, a UAV may have one, two, three,four, or more propellers. In some embodiments, a UAV may have a thrustgenerator other than propellers, such as a turbine engine.

UAVs 110A, 1106, and 110C, may be propelled by four vertically orientedpropellers, which may include two pairs of identical fixed pitchedpropellers wherein one pair is configured to rotate clockwise, and thesecond pair is configured to rotate counter-clockwise (as shown by UAV110D). In exemplary embodiments, independent variation in the speed ofeach rotor may be used to control a UAV. By changing the speed of eachrotor, a UAV may rotate, move forward, move backward, move higher and/ormove lower. Quadcopters differ from conventional helicopters which userotors that are able to dynamically vary the pitch of their blades asthey move around a rotor hub. Generally, quadcopters are less expensiveand more durable than conventional helicopters. Their smaller bladesproduce less kinetic energy, reducing their ability to cause damage.However, as the size of a vehicle increases, fixed propeller quadcoptersbecome less advantageous. Larger blades increase the momentum of a UAVcausing destabilization, and changes in blade speed take longer whichnegatively impacts control.

FIG. 2 illustrates an exemplary unmanned aerial system (UAS) 200 havinga portable power source and a tether according to some embodiments ofthe present disclosure. As shown in FIG. 2, for example, UAV 210 isconnected to tether 220, which is also connected to portable powersource 230. Portable power source 230 may transmit data and/or power toUAV 210 via tether 220. Tether 220 may include multiple cables which maypower or control various portions of UAV 210.

In some embodiments, portable power source 230 may include one or morebatteries and/or individual battery cells. Batteries and/or cellsincluded in portable power source 230 may be of the same type ordifferent types. In some embodiments, batteries and/or cells included inportable power source 230 may be charged via a connector other thantether 220, such as a cable which may be plugged into a standardelectric outlet or connected to power from a power pole. Further, it iscontemplated that a plurality of portable power sources may be connectedto each other to provide additional power to a UAS. Batteries and/orcells may be configured in a series, parallel, or a mixture of both todeliver a desired voltage, capacity, or power density. Portable powersource 230 may include rechargeable batteries, and a temperature sensorwhich a battery charger may use to detect whether batteries are finishedcharging. Portable power source 230 may include battery regulators tokeep the peak voltage of each individual battery or cell below itsmaximum value to allow other batteries to fully charge, such that thebatteries are balanced. Portable power source 230 may include otherbattery balancing devices configured to transfer energy from chargedbatteries to less charged batteries.

In some embodiments, portable power source 230 may include a generator.The generator may be gasoline powered, or may be powered by other fuelssuch as diesel, bio-diesel, kerosene, propane, natural gas, or othersuitable fuel. portable power source 230 may have a storage tank (notshown) for storing fuel and may be refilled.

In some embodiments, portable power source 230 may include one or moresolar panels. Solar panels may be used to provide power directly to UAV210 through tether 220. Solar panels may also be used to rechargebatteries included in portable power source 230. Solar panels may alsobe used to supplement power from a generator.

As described above, in some embodiments, portable power source 230 mayinclude an area on which UAV 210 may land. For example, FIG. 2 mayillustrate a UAV 210 after it has landed on a landing surface ofportable power source 230. In some embodiments, UAV 210 mayautomatically land on a surface of portable power source 230. Forexample, an operator may fly UAV 210 for a length of time, after whichthe operator enters a command causing UAV 210 to determine its locationand/or distance to portable power source 230. Next, UAV 210 may move toand land on a surface of portable power source 230. In another example,UAV 210 may automatically land in response to a determination that itsbatteries (whether onboard or in portable power source 230) store lessthan a threshold amount of power. For example, after power source 230 isstoring less than 10% of the maximum amount of power it can store, powersource 230 may send signals to UAV 210 causing UAV 210 to land. In someembodiments, a command causing UAV 210 to land may be sent in responseto a combination of an amount of power in portable power source 230, anda distance between portable power source 230 and UAV 210. For example,if UAV 210 is close to portable power source 230 (e.g., within 20meters), it may receive a command to land if the power in portable powersource 230 is less than a certain amount (e.g., 10%). On the other hand,in some embodiments, if UAV 210 is farther away from power source 230(e.g., farther than 40 meters), it may receive a command to land if thepower in portable power source 230 is less than a higher amount (e.g.,20%).

FIG. 3 illustrates an exemplary UAS 300 having a portable power sourceand a tether according to some embodiments of the present disclosure. Asshown in FIG. 3, for example, UAV 310 may fly while being connected toportable power source 330 via tether 320.

In some embodiments, tether 320 may be configured to extend or retractinto portable power source 330. Such extension or retraction may becaused by a remote control or UAV 310 flying away or toward portablepower source 330. In some embodiments, a desired amount of tension ontether 310 may be set. For example, an operator may wish tether 310 tohave a particular amount of slack. An operator may increase, decrease,or enter a particular amount of tension using a remote control. In someembodiments, a desired amount of tension on tether 310 may bepredetermined (e.g., programmed into a memory included in UAV 310 orportable power source 310). For example, a preprogrammed amount oftension may be based on certain conditions either detected by a sensorincluded in UAV 310 or portable power source 330. In some embodiments,certain tensions could be based on events and/or conditions. Forexample, profiles may be created for various events and/or conditionssuch that a UAS behaves in a particular manner based on that profile(e.g., due to a threshold amount of wind, tension on a tether may besubstantially greater than when wind is less than the threshold).

FIG. 4 illustrates exemplary remote controls 400 according to someembodiments of the present disclosure. As shown in FIG. 4, for example,remote controls 410, 420, and 440 may control functionality of a UAS.For example, remote control 410 may include two joysticks (one formoving a UAV forward, backward, left, or right, and another for moving aUAV up or down and rotating the UAV left or right). In addition, anexample remote control 410 may include switches to control the trim of ajoystick above and below each joystick. Trim may apply a small constantoffset to a control in order to make an aircraft fly correctly. Forexample, if a UAV veers to the left when in flight, the trim switchbelow the left joystick may be moved to the right such that the UAV isstable when an operator is not touching the joysticks.

FIG. 4 also illustrates an example remote control 420, which includes anelectronic device with a display 430 (e.g., a user interface). Exampleremote control 420 can be configured to have a variety of controls,since the controls are shown on display 430. Example remote control 420may be a personal digital assistant, a smart phone, a tablet, a smartwatch, a laptop, or other devices with display 430. In some embodiments,display 430 may be configured to show a joystick in one mode, and theview from a camera connected to a UAV in another mode. In variousembodiments other modes may be available, which may allow an operator tocommand a UAV to land, tighten the slack on a tether, enter a message tosend via a display or speaker, etc. Of course, display 430 may be atouch display that allows an operator to move virtual joysticks, etc.

FIG. 4 also illustrates a remote control 440 that includes a physicalremote control and a display 450. Similar to remote control 420, display450 included in (and/or connected to) remote control 440 may be a touchscreen, and allow an operator to enter various commands to control a UAVand/or its connected components. In some embodiments, the joysticksincluded in remote control 440 may allow an operator to control theflight of a UAV, while display 450 may simultaneously display the viewfrom a camera connected to the UAV. In some embodiments, remote control420 and/or display 450 may be used to determine the position at which acamera is capturing images or film. Similarly, remote control 440 and/ordisplay 450 may be configured to allow an operator to aim a hose or alight.

In some examples, controllers 410, 420, and 440 are configured totransmit one or more commands to the UAV. The one or more commands mayinstruct the UAV to perform inspect power lines, return to a platform,intercept an intruder, perform maintenance, etc.

FIG. 5 illustrates a block diagram of an exemplary UAS according to someembodiments of the present disclosure. As illustrated in FIG. 5, a UASmay include an example internal system 500, and external componentsincluding one or more propellers 535, one or more connectors 540, one ormore light emitting diodes (LEDs) 545, and a portable power source 550.FIG. 5 also shows a network 560 and a remote device 565.

Example internal system 500 may have, among other things, a processor510, memory 515, storage 520, an input/output (I/O) interface 530,and/or a communication interface 555. At least some of these componentsmay be configured to transfer data and send or receive instructionsbetween or among each other. Processor 510 may be configured to receivesignals from the components shown in FIG. 5, and process the signals todetermine one or more conditions of the operations of system a UAS. Forexample, processor 510 may receive signals indicating that the wind islikely causing the UAV to be unstable, and use one or more componentsincluding propellers 535 to adjust the UAV to stabilize accordingly.Processor 510 may also be configured to generate and transmit a controlsignal in order to actuate one or more components. For example,processor 510 may detect a signal from portable power source 550commanding the UAV to land due to lack of power. In response, processor510 may cause the propellers to operate in such a manner that the UAVreturns to portable power source 550 and lands either on or nearportable power source 550.

In operation, according to some embodiments, processor 510 may executecomputer instructions (program code) stored in memory 515 and/or storage520, and may perform exemplary functions in accordance with techniquesdescribed in this disclosure. Processor 510 may include or be part ofone or more processing devices, such as, for example, a microprocessor.Processor 510 may include any type of a single or multi-core processor,a microcontroller, a central processing unit, a graphics processingunit, etc.

Memory 515 and/or storage 520 may include any appropriate type ofstorage provided to store any type of information that processor 510 mayuse for operation. Memory 515 and storage 520 may be a volatile ornon-volatile, magnetic, semiconductor, tape, optical, removable,non-removable, or other type of storage device or tangible (i.e.,non-transitory) computer-readable medium including, but not limited to,a ROM, a flash memory, a dynamic RAM, and a static RAM. Memory 515and/or storage 520 may also be viewed as what is more generally referredto as a “computer program product” having executable computerinstructions (program codes) as described herein. Memory 515 and/orstorage 520 may be configured to store one or more computer programsthat may be executed by processor 510 to perform exemplary functionsdisclosed in this application. Memory 515 and/or storage 520 may befurther configured to store data used by processor 510.

I/O interface 530 may be configured to facilitate the communicationbetween example internal system 500 and other components of a UAS. I/Ointerface 530 may also receive signals from portable power source 550,and send the signals to processor 510 for further processing. I/Ointerface 530 may also receive one or more control signals fromprocessor 510, and send the signals to control the operations of one ormore propellers 535, one or more connectors 540, and/or one or more LEDs545. As discussed below in greater detail, processor 510 may receiveinput from one or more components connected to a UAV via I/O interface530 and one or more connectors 540. Various devices including sensors,or a lab on a chip, for example, may be connected to a UAS via one ormore connectors 540 and configured to transmit data to processor 510.

Communication interface 555 may be configured to transmit and receivedata with one or more remote devices 565 over network 560. In someembodiments, network 560 may include a cellular network, the Internet, aWiFi connection, a local area network, etc. In some embodiments, remotedevice 565 may be a remote control as described in FIG. 4. In someembodiments, remote device 565 may be cloud storage, a monitoringsystem, a remote computer, etc. In one example, communication interface555 may be configured to receive from remote device 565 a signalindicative of moving a UAV forward or backward. As another example,communication interface 555 may be configured to receive from remotedevice 565 a signal indicative of controlling a camera connected to aUAV via connector 540 (e.g., remote device 565 may have a button thatcauses a camera connected to a UAV to capture an image). Communicationinterface 555 may also transmit signals to processor 510 for furtherprocessing.

In another example communication interface 555 may transmit data (e.g.,images received through I/O interface 530, data processed by processor510, data stored in storage 520 or memory 515, etc.) through network 560to remote device 565. Data transmitted by communication interface 555may be used, for example, to continuously monitor power lines while theUA is inspecting the power lines.

Remote device 565 (e.g., a remote control) may be any type of a generalpurpose computing device. For example, remote device 565 may include asmart phone with computing capacity, a tablet, a personal computer, awearable device (e.g., Google Glass™ or smart watches, and/or affiliatedcomponents), or the like, or a combination thereof. In some embodiments,a plurality of remote devices 565 may be associated with one or morepersons. For example, remote devices 565 may be associated with theowner(s) of a UAV, and/or one or more authorized people (e.g., employeesor inspection personnel of the owner(s) of a UAV).

In some embodiments, a UAV may include an internal power source 525.Internal power source 525 may include batteries or cells, similar toportable power source 550. Power provided to a UAV may be acquired fromeither internal power source 525, portable power source 550, or astationary power source (not shown), or any combination. In someembodiments, internal power source may include rechargeable batteries orcells that may be charged via portable power source 550 or one or moresolar panels (not shown). In some embodiments, a UAV may acquire some orall of its power from internal power source 525 or portable power source550 based on certain conditions. For example, if portable power source550 contains less than a threshold amount of power, a UAV may stopacquiring power from portable power source 550 and instead acquire powerfrom internal power source 525. Similarly, in some embodiments a UAV mayuse internal power source 525 for power until internal power source 525contains less than a threshold amount of power, at which point the UAVswitches to using power from portable power source 550. Otherembodiments are also contemplated. For example, a remote control mayallow an operator to cause a UAV to switch between acquiring power frominternal power source 525 and portable power source 550. In someembodiments, if a tether is disconnected from a UAV, the UAV mayautomatically begin acquiring power from internal power source 525instead of portable power source 550.

In some embodiments, one or more propellers 535 may be configured tocause a UAV to move in one or more directions, as described above. Forexample, a UAV may comprise four propellers 535 wherein two rotate in aclockwise direction and two rotate in a counterclockwise direction. Insuch an embodiment, propellers 535 may be fixed. It should beappreciated that in some embodiments, such as where a UAV comprises asingle propeller similar to a conventional helicopter, the pitch ofpropeller(s) 535 may be controlled by processor 510. Similarly, althoughnot shown in FIG. 5, the flaps or ailerons of a fixed wing UAV may becontrolled by processor 510 and one or more actuators (not shown).

In some embodiments, one or more connectors 540 may be coupled to I/Ointerface 530 (or may be included in I/O interface 530) and may beconfigured to attach to various external components. As described belowin greater detail, a connector may be used to connect various devicessuch as a camera, a light, a robotic arm, an inspection module, etc. Insome embodiments, a plurality of connectors 540 allow a plurality ofdevices to attach to a UAV (e.g., a camera and a light). In someembodiments, connector 540 may transfer data to processor 510 and/orremote device 565, and/or allow remote device 565 to control a componentattached to connector 540.

In some embodiments, LEDs 545 may be included in and/or connected to aUAV system. For example, a UAV may comprise red and green LEDs 545configured to indicate which direction a UAV is facing. A UAV may alsocomprise LEDs 545 that are configured to indicate other conditions suchas levels of oxygen at certain altitudes, or an amount of moisture inthe atmosphere, for example. In some embodiments, a UAV may compriseprogrammable LEDs 545. For example, a user may be able cause LEDs 545 toshow a particular symbol (e.g., based on the user and/or remote device565 controlling a UAV). LEDs 545 may also be configured to display acompany's logo, or other information associated with a company. In someembodiments, it is contemplated that a tether may include LEDs 545. Forexample, a UAV may fly at night and its location would be visible basedon a tether illuminated by LEDs 545. It is further contemplated that insome embodiments, LEDs 545, or a speaker (not shown), may project amessage. For example, an operator may want to provide a message tosomeone on a power pole, and LEDs 545 or a speaker included in a UAV mayconvey a message.

FIG. 6 illustrates an exemplary portable power source and tether 600according to some embodiments of the present disclosure. As shown inFIG. 6, for example, portable power source 610 may include and/or beattached to a tether 620. Tether 620 may include a sheath 630 enclosingvarious cables 640, 650, and 660. In some embodiments, portable powersource 610 may include a device that causes tether 620 to extend furtherout of portable power source 610, or retract into portable power source610. In some embodiments, a command may be sent to portable power source610 from a UAV or a remote control, wirelessly or otherwise, causingportable power source 610 to retract tether 620. In some embodiments, asdescribed above, tether 620 may be configured to have a desired amountof tension. For example, a program stored in a memory of a UAV, a remotecontrol, or portable power source 610 may indicate an amount of desiredtension, and cause portable power source 610 to retract tether 620 tohave a substantially desired amount of tension.

In some embodiments, the cables 640, 650, and 660 included in sheath 630may transmit power and/or data. For example, cables 640 and 660 maytransmit data to and/or from a UAV, while cable 650 may transmit power.In some embodiments, cables 640, 650, and/or 660 may be designated forparticular purposes. For example, a cable 640 configured to send and/orreceive data may send or receive data associated with power conditionsin portable power source 610, while another cable 660 may send orreceive data associated with power conditions in an internal powersource of a UAV.

FIG. 7 illustrates an exemplary unmanned aerial system 700 having aconnector according to some embodiments of the present disclosure. Asshown in FIG. 7, connector 720 is located on a bottom side (e.g., a sidefacing the ground during normal flight) of UAV 710. In variousembodiments, connector 720 may contain male and/or female connections730 as shown within connector 720. In some embodiments, more than oneconnector may be included in UAV 710. Further, in some embodiment, morethan one component may be attached to connector 720. For example, two orthree connectors may be included in a UAV and two or three componentsmay be attached to a UAV via one, two, or three connectors.

For example, one or more cameras may be attached to connector 720. Inaddition to cameras, or in the alternative, inspection equipment modulesmay be attached to connector 720 and include, but are not limited to: alight, a robotic arm, one or more sensors (e.g., electrical conductivitysensors, electrical current sensors, oxygen sensors, carbon dioxidesensors, carbon monoxide sensors, particulate sensors, motion sensors,accelerometers, gyroscopes, microphones, etc.), a display screen, aspeaker, etc.

FIG. 8 illustrates an exemplary unmanned aerial system 800 having acamera according to some embodiments of the present disclosure. As shownin FIG. 8, for example, UAV 810 is connected to camera 830 via connector820. In some embodiments, UAV 810 may be connected to multiple cameras830 or other components. For example, UAV 810 may be configured tocapture images or video associated with power line inspection. The UAVmay be programmed to fly in a bounded area determined by the power linelocation. In another example, UAV 810 may be configured to captureimages or video associated with damage to a property, or any other eventoccurring at the location. In some embodiments, UAV 810 may fly in apattern based on one or more images or video captured by camera 830. Forexample, UAV 810 may determine its distance from an object based on oneor more images or video captured by camera 830. Based on the distance,UAV 810 may fly closer to, or further away from the object. In someembodiments, camera 830 may be configured to capture three-dimensionalimages. In such embodiments, the images may be transferred to a computerand used to create a three dimensional object (e.g., printed with anadditive manufacturing device, or 3D printer).

In some embodiments, a UAS 800 may be programmed to capture one or moreimages or video of a particular object or person. For example,recognition software (such as facial recognition) may allow a UAS 800 toidentify a person or object, and then cause UAV 810 to position itselfand/or camera 830 at a certain angle and location to capture images orvideo of the person or object. For example, camera 830 may be used toidentify a particular fault in a power line, and then UAV 810 may becaused to fly closer to that fault (e.g., to verify the presence of thefault).

In some embodiments, camera 830 may be configured to capture images orvideo including a remote control used to control UAV 810. For example,an operator with a remote control may be inspecting power lines, and UAV810 may be programmed to hover around remote control (e.g., the operatoras he moves around the area with the power lines) at a particular heightand/or particular distance. In such an example, camera 830 may beconfigured to capture images or video of a remote control (and/or theoperator) as it hovers around the power lines. It should be appreciatedthat, instead of a remote control, a camera may be configured to captureimages or video of another electronic device, a person based on facialrecognition, or a particular location (e.g., a latitude and longitude).Further, it should be appreciated that in embodiments described herein,a camera may be configured to receive an input that causes it to changethe angle it is aimed (e.g., the direction that a lens of a camera isfacing).

In some embodiments, camera 830 may be a high resolution camera, such asa digital single-lens reflex (DLSR) camera. Camera 830 may be configuredto acquire video or still images, and image resolution may beconfigurable. Camera 830 may include one or more lenses. For example,telephoto lenses may be used to acquire images from long distance,whereas macro lenses may be used to acquire images from close range. Anynumber of lenses may be used with camera 830.

In some embodiments, camera 830 may be able to collect images in thedark employing technology such as forward looking infrared (FLIR),starlight, etc. Camera 830 may be used to track individuals or inspectproperty. For example, camera 830 may be used to detect gas leaks,overheating equipment, fires, water leakage, etc.

FIG. 9 illustrates an exemplary unmanned aerial system 900 having arobotic arm according to some embodiments of the present disclosure. Asshown in FIG. 9, for example, UAV 910 is connected to a robotic arm 930via connector 920. Robotic arm 930 may be configured to perform avariety of actions, including, but not limited to: rescuing a person(e.g., from becoming stuck on a power pole), acquiring an animal (e.g.,a cat on a power pole), acquiring test equipment (e.g., test equipmentleft on a power pole), acquiring soil samples (e.g., to determinewhether PCBs have leaked out of a transformer), acquiring water samples,moving objects (e.g., power lines attached to power poles), repairingpower lines (e.g., fixing insulator elements that are damaged in astorm), etc.

FIG. 10 illustrates an exemplary unmanned aerial system 1000 havingquick-disconnect battery according to some embodiments of the presentdisclosure. As shown in FIG. 10, for example, UAV 1010 comprises amaintenance bay 1015 for access to internal components. Maintenance bay1015 can be located anywhere on the fuselage of UAV 1010. In someexamples, maintenance bay 1015 is located on the underside of UAV 1010.Connectors for external components may be integrated into the bay doorsor be located adjacent to the maintenance bay 1015.

In some embodiments, opening maintenance bay 1015 exposes carrier 1050.Carrier 1050 comprises connections for attaching at least one of atether 1020 to tether attachment point 1040 and a battery 1060 todisconnect points 1065. Battery 1060 may have charging connectors, inthe alternative or in addition to disconnect points 1065. Carrier 1050may also include internal electronics 1070, as described above withrespect to FIG. 5. Carrier 1050 may comprise interconnections to routepower and data to and from internal electronics 1070 to tether 1020and/or battery 1060.

In some embodiments, UAV 1010 may land on a landing platform and openmaintenance bay 1015. UAS 1000 may then automatically charge and/or swapbattery 1060, if present.

In some embodiments, the UAS comprising a UAV may be configured to carryone or more objects, people, and/or animals. Various UAVs describedherein may be configured to produce an amount of lift sufficient tocarry objects, people, and/or animals. A portable power source may bephysically connected to a tether capable of transmitting power and data,which may in turn be connected to a UAV. In some embodiments, a portablepower source may comprise one or more batteries or other components thatacquire, store, and/or transmit power to a UAV. The portable powersource may be a stand-alone device, and small enough to be transportedin an automobile. The power source may be removed from a vehicle,activated, and connected to a UAV to power it for longer periods of timethan a battery within the UAV itself.

In some embodiments, the UAV may include a connector that allowsexternal components to attach to the UAV. A connector may be configuredto allow a UAV to carry external components such as a objects, people,and/or robotic arms. External components may include large items usedfor a variety of purposes. For example, external components may includea rope, landscaping equipment, painting equipment, etc. Externalcomponents may be used to carry a person, or perform tasks such aspainting, landscaping, cleaning, lifting objects, people, and/oranimals, etc.

FIG. 11 illustrates an exemplary environment 1100 including UAVs 1110Aand 11106 and traffic control message 1130 according to some embodimentsof the present disclosure. As shown in FIG. 11, for example, UAVs 1110Aand 11106 have robotic arms 1120A and 11206 attached to connectors onthe UAVs, respectively. Robotic arms 1120A and 1120B may hold cablesconnected to traffic control message 1130.

In some examples, traffic control message 1130 may warn drivers ahead ofan accident, or notify drivers of a lane closure. For example, cars 1140may be on a highway and UAVs 1110A and 11106 may fly above the highwaywith traffic control message 1130. Alternatively, the UAVs may flythroughout a city to provide traffic control messages 1130.

In some embodiments, an emergency event may occur away from a city or ina remote area. In this case, the UAVs may be powered by a portable powersource. In some embodiments, the UAVs may be configured to fly from apredetermined area (e.g., the city) to the remote location to providetraffic control messages 1130.

FIG. 12 illustrates an exemplary environment 1200 including UAVs 1210and display screens 1230 for traffic control according to someembodiments of the present disclosure. As shown in FIG. 12, for example,UAVs 1210 have robotic arms 1220 attached to connectors on the UAVs,respectively. Robotic arms 1220 may hold display screens 1230.

In some embodiments, display screen 1230 may be held by robotic arm1220. In other embodiments, display screen 1230 may be directlyconnected to UAV 1210 or may be connected by some other means.

In some embodiments, UAVs 1210 may carry the display screens 1230 andfly over a highway or other area to display a warning message. In someexamples, display screens 1230 may be LED screens, LCD screens, plasmascreens, rear projection screens, or any other self-contained displayscreen technology. In some embodiments, UAV 1210 may be connected todisplay screen 1230 through a connector and I/O port to transmit data tothe display screen 1230. Display screen 1230 may receive the data anddisplay a message according to the data. In some examples, UAV 1210 mayhave messages stored in memory and display the messages on the displayscreen 1230 when certain conditions occur. For example, UAV 1210 mayalso include a camera and use image recognition software to recognizeevents or vehicles 1240. When a certain event or vehicle 1240 isrecognized, UAV 1210 may transmit data to the display screen 1230 todisplay a particular message (e.g., “warning, drive slowly”) that istargeted to the particular person or vehicle 1240. In other embodiments,an operator may use a controller or other remote device to command UAV1210 to display a certain message on display screen 1230.

In some embodiments, traffic signal 1250 may be held by robotic arm1220. In other embodiments, traffic signal 1250 may be directlyconnected to UAV 1210 or may be connected by some other means. In someembodiments, UAVs 1210 may carry the traffic signal 1250 over a highwayor other area to provide temporary traffic control in response to anemergency event. In some embodiments, UAV 1310 may be connected totraffic signal 1250 through a connector and I/O port to transmit data tothe traffic signal 1250. In other embodiments, an operator may use acontroller or other remote device to command UAV 1210 to display acertain signal on traffic signal 1250.

FIG. 13 illustrates an exemplary environment 1300 including UAVs 1310and light projectors 1320 according to some embodiments of the presentdisclosure. As shown in FIG. 13, for example, UAVs 1310 are connected tolight projectors 1320 and are configured to fly above an emergency event1330.

In some embodiments, emergency event 1330 may be a traffic accident, orother event, and UAVs 1310 may be configured to shine spotlights on thelocation. In other embodiments, UAVs 1310 may be configured to use lightprojectors 1320 to provide additional lighting around the accident inorder to assist emergency personnel 1440. For example, light projectors1320 may have filters that create a projected image or message on ahighway 1450 (e.g., “accident ahead, drive slow”). UAVs 1310 mayposition light projectors 1320 to display the image or message onhighway 1350. In other embodiments, light projectors 1320 may beprogrammable. UAV 1310 may transmit data to and program light projector1320 to display a preprogrammed message or image. In other embodiments,light projectors 1320 may be aimed towards the sky, allowing UAV 1310 toact as a beacon, notifying emergency personnel 1340 or other vehicles onhighway 1350 of the location of emergency event 1330.

FIG. 14 illustrates an exemplary environment 1400 including one or moreunmanned aerial vehicles 1410 and an elevated platform 1420 according tosome embodiments of the present disclosure. As shown in FIG. 14, forexample, UAV 1410 is sitting atop elevated platform 1420. In someembodiments, elevated platform 1420 may be permanently affixed to astructure such as traffic pole 1430. Traffic pole 1430 may include asupply of electricity. Elevated platform 1420 may be connected to theelectricity source. In some examples, elevated platform 1420 may beattached to emergency response vehicle 1450. Emergency response vehicle1450 may include a supply of electricity, and elevated platform 1420 maybe connected to the electricity source. Elevated platform 1420 may thenbe used to power UAV 1410 by, for example, recharging internal UAVbatteries, supplying power through a tether, maintaining chargedbatteries that can be swapped out with UAV 1410 internal batteries, etc.

In some examples, elevated platform 1420 may be portable. For example,an operator may temporarily affix the platform to a ridged structure fortemporary use. Elevated platform 1420 may use a local power source or aportable power source as described above. In some examples, a portableelevated platform 1420 may be used to scan highway 1440 for an emergencyevent.

In some examples, UAV 1410 may be used to scan highway 1440. Highway1440 may alternatively be a city road or other location. In the example,UAV 1410 may be tethered to elevated platform 1420 or use an internalpower source. UAV 1410 may take off from elevated platform 1420 and flyaround highway 1440 while recording video of highway 1440. UAV 1410 maytransmit the video to an operator or monitoring station. In practice,UAS 1410 may replace or enhance pan-tilt-zoom cameras that are fixed andmounted on or around highway 1440. The mobility of UAV 1410 may enhancescanning an area that is not possible with fixed camera placements.

In some examples, UAV 1410 may remain airborne indefinitely by using atether to elevated platform 1420. UAV 1410 may be designed to operate inmost weather conditions, however, if UAV 1410 needed to land, forexample, in an electrical storm, UAV 1410 may return to elevatedplatform 1420. In some examples, elevated platform 1420 may include acover to protect UAV 1410 from damage.

In some embodiments, the platform (e.g., a landing area, hanger, othersurface, etc.) may be included in the UAS. In some examples, theplatform may house communications equipment that communicates with theUAV. For example, the platform may contain radiofrequency transmittersto communicate with the UAV wirelessly or through a tether.

FIG. 15 illustrates an exemplary environment 1500 including an unmannedaerial vehicle 1510 and notification message 1520. In some examples,notification message 1520 may comprise data and/or data structurescontaining information relating to an emergency event 1530. In someembodiments, while navigating in an area, UAV 1510 may detect anemergency event 1530 through the use of an attached sensor or camera.For example, UAV 1510 may collect data or capture images of emergencyevent 1530, which may be a traffic accident. In some embodiments, UAV1510 may also collect data or capture images from the area surroundingemergency event 1530. For example, UAV 1510 may determine any of thefollowing: the location of emergency event 1530, the speed of nearbyvehicles, and the time emergency event 1530 occurred. UAV 1510 may alsodetect the presence of any hazardous material surrounding emergencyevent 1530 (e.g., gas spill, oil spill, fire, toxic chemicals, etc.).

In some embodiments, UAV 1510 can use the collected data to create anotification message 1520. Notification message 1520 may then becommunicated wirelessly to a plurality of other devices or systems. Forexample, notification message 1520 may be relayed to another UAV 1580,or a network of UAVs. In some embodiments, notification message 1520 istransmitted to another vehicle 1540, where it may be displayed on ascreen already integrated within vehicle 1540. In other embodiments,notification message 1520 may also be transmitted to a cellular device1550, police car 1560, or remote device 1570.

In some embodiments, a wireless communication device may be attached tovehicle 1540. In some examples, the wireless communication device may beconnected to an OBDII (on-board diagnostics II) connector of the vehicle1540. In other examples, the wireless communication device may beintegrated in computing hardware in the vehicle 1540, such as an enginecontrol unit (ECU), body control unit (BCU), or the like. The wirelesscommunication device may further be integrated with a global positioningsystem (GPS). In some embodiments, the wireless communication device mayreceive notification message 1520, or other indication of emergencyevent 1530. In some examples, the wireless communication device maycause vehicle 1540 to change speed in response to the notificationmessage 1520. In some embodiments, the wireless communication devicereceives data from emergency personnel (e.g., police 1560) or otherdevices (e.g., cellular device 1550 and/or remote device 1570).

In some embodiments, the wireless communication device may be attachedto a vehicle involved in emergency event 1530. In some examples, thewireless communication device may receive data from an ECU or othersensors, and determine that an emergency situation has occurred. Forexample, the wireless communication device may receive data that thevehicle has rapidly decelerated and/or an airbag has deployed. Thewireless communication device may transmit a notification message and/ordata to other devices (e.g., vehicle 1540, police 1560, cellular device1550, remote device 1570, and/or UAVs 1510 and 1580). In some examples,UAV 1510 may relay the notification message and/or data or modify thenotification message and/or data with additional information from theUAV 1510 (e.g., images of the event, GPS coordinates, the presence ofhazardous material, etc.).

In some embodiments, the wireless communication device may comprise oneor more electronic modules configured to interface with an OBDIIconnector. The wireless communication device may receive data from theconnector and send data through the connector. In other embodiments, theone or more electronic modules may also be configured to collect andtransmit data to a cloud computing resource.

FIG. 16 illustrates an exemplary environment 1600 including an unmannedaerial vehicle 1610 and emergency event 1620. In some embodiments, UAV1610 may detect emergency event 1620 using an attached sensor and/orcamera. For example, the UAV 1610 may take an image of emergency event1620 and process the image using machine vision algorithms to determinethat an accident has occurred. In response to detecting the emergencyevent 1620, UAV 1610 may be configured to transmit a wireless signal toone or more vehicles 1630. In some embodiments, the signal may be sentautonomously by UAV 1610, or may be sent by an authorized operator ofUAV 1610, for example, a police officer. The wireless signal may includea warning message 1640, which may be used to inform drivers of vehicles1630 that an emergency event has occurred. In some embodiments, warningmessage 1640 may be displayed on a display system already present withinvehicle 1630, for example, a display screen mounted in the dashboard, aGPS system, etc. In other embodiments, warning message 1640 may betransmitted to vehicle 1630 through a wireless module attached tovehicle 1630 through an on-board diagnostic port present within vehicle1630. In some examples, the wireless signal transmitted by UAV 1610 mayinteract with control systems present within vehicle 1630 in order tolimit the top maximum speed of vehicle 1630 in the area around emergencyevent 1620.

FIG. 17 shows a flowchart of a method 1700 of traffic control,consistent with embodiments of the present disclosure. The method may beperformed by, for example, the system shown in FIG. 5.

At step 1710, a UAV may navigate, for example to a predetermined area.The UAV may also fly autonomously within a bounded area. In someembodiments, the UAV may receive commands to navigate to an area. Inother embodiments, the UAV may fly in a predetermined area without anyinput.

At step 1720, the UAV may determine is an emergency event has occurred.In some embodiments, the UAV may receive data from a remote deviceindicating that the emergency event has occurred. The UAV may navigateto the location of the event and confirm that the event has occurred. Insome embodiments, the UAV may be equipped with a camera. The UAV maytake pictures of an area and analyze the pictures using, for example,machine vision algorithms. The UAV may determine that an emergency eventhas occurred based on the analysis of the pictures.

At step 1730, the UAV may determine the location of the emergency event.In some embodiments, the UAV may be equipped with a global positioningsystem (GPS) device or another device that can determine the location ofthe UAV (e.g., a cellular network transceiver, Wi-Fi transceiver, etc.).Upon determining the presence of an emergency event, the UAV maydetermine its location using the GPS device. The UAV may also determineits distance to the emergency event, for example, using a range finder,analyzing images of the event, compass, etc. The exact location of theemergency event can then be calculated using the GPS coordinates and thedistance to the event. Alternatively, the UAV may receive an indicationof an emergency event from a wireless communication device located at ornear the emergency event. The wireless communication device may transmitits location to the UAV in the event that an emergency event isdetected. The UAV may used the transmitted location and determine thelocation of the emergency event.

At step 1740, the UAV may transmit the location of the emergency event.For example, the UAV may transmit the location to emergency services.The UAV may also determine the type of emergency event and transmit dataindicating the type of emergency event along with the location of theevent. In other embodiments, the UAV may transmit the location of theemergency event to a wireless communication device in nearby vehicles.The wireless communication device may be attached to an OBD connectorand command the vehicle to slow as it approaches the location.

At step 1750, the UAV may display a warning message. For example, theUAV may display a message (e.g., on a display screen attached to theUAV) indicating the location of the emergency event. The UAV may alsodisplay the type of emergency event and precautions that should be takento avoid the emergency event.

FIG. 18 illustrates an exemplary environment 1800 including a UAV 1810and a control center 1830, according to some embodiments of the presentdisclosure. In some embodiments, the control center 1830 may be a truck,a building, or other place. In some examples, the control center 1830may be an ambulance to accommodate injured people. The control center1830 may carry equipment and other necessary materials for rescueactivities.

As shown in FIG. 18, for example, a landing pad 1820 may be included. Insome examples, the landing pad 1820 may be portable. For example, anoperator may temporarily affix the landing pad 1820 to a ridgedstructure for temporary use. The landing pad 1820 may use a local powersource or POE, as described above. In some examples, the landing pad1820 may be used to house the UAV 1810 on a limited basis. While the UAV1810 is sitting on the landing pad 1820, POE may be used to power theUAV 1810 and provide data to the UAV 1810.

In some embodiments, more than one landing pad 1820 may be used. Forexample, as shown in FIG. 18, other landing pads 1820 may also beestablished to accommodate multiple UAVs around the control center 1830.

In some embodiments, the UAV 1810 may be configured to receive datatransmitted through a tether. The UAV 1810 may use commands sent throughthe tether to guide itself back to a platform. The data may includeinstructions navigating the UAV 1810 to a predetermined area orcommanding the UAV 1810 to return to a platform.

In some embodiments, the landing pad 1820 (e.g., a landing area, hanger,other surface, etc.) may be included in the UAS. In some examples, thelanding pad 1820 may house communications equipment that communicateswith the UAV 1810. For example, the platform may contain radiofrequencytransmitters to communicate with the UAV wirelessly or through thetether.

FIG. 19 illustrates an exemplary environment 1900 for scenereconstruction system, according to disclosed embodiments. In someembodiments, a UAV 1910 may navigate to a predetermined area forinvestigation and take images (e.g., three-dimensional images) of thecrime scene 1920 with a high resolution camera. In such embodiments, thedata of the captured images may be transferred to a remote 3D printer1930 (e.g., an additive manufacturing device) via wireless communication1940 to create a three-dimensional reconstruction. Accuratelyreconstructing a crime scene as existed shortly after the incident maymake a police investigation much more efficient and reliable because theUAV 1910 can be dispatched immediately after the incident to preservevanishing proof of a crime at the scene.

FIG. 20 illustrates an exemplary environment 2000 for finding a buriedperson, consistent with disclosed embodiments. In some embodiments, aUAV 2010 may navigate to a predetermined area to assess the condition ofa disaster with a sensor 2020. The UAV 2010 may search for a person 2030lying under the rubble 2035 using one or more sensors 2020 (e.g., acamera and machine-vision software). In such embodiments, the UAV 2010may determine whether there is a person and whether the discoveredperson 2030 needs rescue. For example, an infrared system (e.g., IRDS,FLIR, or the like) may be used to detect a heat signature of the person2030, even though the person is obscured from sight. In other examples,a ground-penetrating sensor may be used to detect the person 2030. TheUAV 2010 may transmit gathered data to a control center 2040 via acommunication interface. The control center 2040 may analyze the dataand transmit a signal commanding the UAV 2010 to recover the person2030. Even when ground access to a disaster-afflicted area isimpossible, the UAV 2010 may provide prompt access to such area toachieve effective rescue activities because the UAV 2010 can scan thearea and discover a trapped person under a torn building using one ormore sensors.

FIG. 21 illustrates an exemplary environment 2100 having a UAV 2110 fordiscovery and recovery of a drowning person 2130. In some embodiments,the UAV 2110 may navigate to a predetermined area to search for adrowning person 2130 with a water-penetrating sensor 2120. For example,an infrared system (e.g., IRDS, FLIR, and the like) may be used todetermine a heat signature of the person 2130. In some cases, the person2130 may be at the surface of the water, and in other cases, the person2130 may be submerged. In such embodiments, the UAV 2110 may determinewhether there is the person 2130 under the water and whether the person2130 needs rescue. The UAV 2110 may transmit gathered data to thecontrol center 2140 via a communication interface. The control center2140 may analyze the data and transmit a signal commanding the UAV 2110to recover the person 2130. Searching for a person in the sea may becomplicated by factors such as visibility in the water and weather. TheUAV may be used in such a task because the UAV can identify a drawnperson from above using water-penetrating sensors.

FIG. 22 illustrates an exemplary environment 2200 having a UAV 2210 fornatural resource exploration. In some embodiments, the UAV 2210 maynavigate to a predetermined area to search for a natural resource, suchas oil. In such embodiments, the UAV 2210 may determine whether there isa natural resource and calculate the location of the natural resourceusing one or more sensors 2220. In some examples, the UAV 2210 may takea sample from a soil to check for the presence of a natural resourceusing a robotic arm. In other examples, the UAV 2210 may excavate usinga robotic arm. Exploring a natural resource may become more efficientwith the UAV 2210 because the UAV 2210 can cover a wide area in a moretime-efficient manner. Use of the UAV 2210 may reduce costs ofexploration by eliminating expensive exploration equipment.

FIG. 23 illustrates an exemplary environment 2300 using a UAV 2310 foremergency alert transmission. In some embodiments, the UAV 2310 mayreceive data indicating the occurrence of an emergency situation and flyto a predetermined area to collect data of the emergency situation. Inother embodiments, the UAV 2310 may detect the presence of an emergencysituation on its own using one or more sensors. In some examples, theUAV 2310 may determine whether there is an emergency situation. Forexample, in case of an immobilized car 2320 on a road, the UAV 2310 mayobtain data using one or more sensors and determine the location andnature of the immobilized car 2320. The UAV 2310 may generate data fordisplay on a vehicle navigation system 2330 to inform a user of theemergency situation. The UAV 2310 may transmit the data to notify aperson in a vehicle 2340 of the emergency situation. As another example,the UAV 2310 may transmit an alert to the police 2350. In otherembodiments, the UAV 2310 may transmit an alert to communication devices2360. With use of the UAV 2310, emergency notification systems maybecome more effective and accurate because the UAV 2310 may gather dataon the spot and provide an emergency alert for a display on the vehiclenavigation system 2330.

FIG. 24 is a flowchart showing a method 2400 of searching for a personor thing. For example, the method may be carried out by the UAS as shownin FIG. 20.

At step 2410, a UAV may navigate to an area. The area may bepredetermined by a user or the UAV may determine that an area needsinvestigating.

At step 2420, the UAV may search for a person or thing. In someexamples, the UAV may search for a buried victim. The UAV may use, forexample, ground-penetrating sensors and/or infrared systems. In otherexamples, the UAV may search for minerals or other natural resources.

FIG. 25 is a flowchart showing a method 2500 of providing data and powerto an UAV. For example, the method may be carried out by the UAS shownin FIG. 2 and FIG. 6.

At step 2510, a UAV may navigate to a predetermined area. As oneexample, the UAV may be navigated by a remote control such as a mobilephone.

At step 2520, the UAV may search for a person or thing. In someexamples, the UAV may use a camera and facial recognition software toscan an area to search for an injured victim. In other examples, the UAVmay search for an immobilized car on a road. In still other examples,the UAV may use an infreared system to detect the heat signature of aperson, for example, drowning in water or buried in rubble.

At step 2530, the UAV may land on a landing pad. The landing pad may belocated in a control center. In some examples, the control center may bean ambulance or other emergency vehicle. The landing pad may also belocated close to a traffic accident. In other examples, the controlcenter may be a ship and have more than one landing pad.

At step 2540, the UAV may be connected to a portable power source via atether. In some embodiments, the portable power source may transmit dataand/or power to the UAV via the tether. As one example, the UAV may beconnected to POE via the tether to receive data and power. In someembodiments, the portable power source and tether may be integrated intothe landing pad.

FIG. 26 is a flowchart showing method 2600 of recovery of a person orthing. For example, the method may be carried out by the UAS shown inFIG. 9.

At step 2610, a UAV may navigate to a predetermined area. In someembodiments, the UAV may receive a command ordering it to fly to thepredetermined area from a control center.

At step 2620, the UAV may search for a person or thing. In someexamples, the UAV may fly over water and search for a drowning personusing an infrared camera. In other examples, the UAV may scan the groundand search for an injured person (e.g., using a ground penetratingsensor).

At step 2630, the UAV may recover the person or thing with a carryingcomponent. In some examples, the UAV may have a robotic arm and aportable recovery container. The UAV may extend a scoop stretcher to theside of the injured person and scoop the person into the stretcher. TheUAV may transport the injured person away from an accident scene usingthe scoop stretcher.

FIG. 27 illustrates an exemplary method 2700 of rescuing a person by aUAV. For example, the method may be carried out by the UAS shown in FIG.21.

At step 2710, the UAV may receive a predetermined area. In someexamples, the predetermined area may be an area affected by a naturaldisaster.

At step 2720, the UAV may navigate to the predetermined area. In someexamples, the UAV may be programmed with coordinates and flyautonomously to the coordinates, for example using a GPS.

At step 2730, the UAV may scan the predetermined area. The UAV may useone or more sensors to scan the area. For example, a ground-penetratingsensor may be used to scan beneath the surface of rubble or debris tolocate a person. The UAV may also determine the condition of the groundand surrounding environment. In another example, the UAV may search fora person using a water-penetrating sensor or facial recognition softwareand one or more sensors.

At step 2740, the UAV may analyze data acquired from the one or moresensors while scanning. In some examples, the UAV may determine that thefound person is immobilized, for example, based on the analysis that theperson is not moving.

At step 2750, the UAV may decide whether there is a person in need ofrescue. In some examples, the UAV may determine that the found person isinjured based on acquired sensor data, for example, captured by ahigh-resolution camera. The data may indicate, for example, that thefound person is not moving.

At step 2760, the UAV may determine a location of the person in need ofrescue. In some examples, the UAV may pinpoint the location of thetarget (e.g., injured person) using a GPS or other coordinatedetermining device. Sensor data may also be obtained, for example, by awater-penetrating sensor. The UAV may measure the distance between thetarget and the UAV and use the GPS coordinates to determine the target'slocation.

FIG. 28 is a flowchart showing method 2800 of searching for naturalresources. For example, the method may be carried out by the UAS asshown in FIG. 22.

At step 2810, the UAV may receive a predetermined area containing anatural resource. At step 2820, the UAV may navigate to thepredetermined area.

At step 2830, the UAV may scan the predetermined area using a sensor. Insome examples, the UAV may use a ground-penetrating sensor to obtaindata indicating structures beneath the surface of the ground. Forexample, ground penetrating radar may be used to determine a cavityunderground that may contain a natural resource, such as oil.

At step 2840, the UAV may determine a location within the predeterminedarea containing a natural resource. In some examples, the UAV may gatherdata by scanning the ground with a ground-penetrating sensor anddetermine the location of the natural resource by analyzing the data.

At step 2850, the UAV may excavate the location using a robotic arm. Insome examples, the UAV may use drills attached to a robotic arm toexcavate the ground.

FIG. 29 is a flowchart showing a method 2900 of collecting data of anemergency situation and creating data for display on a vehiclenavigation system or communication device. For example, the method maybe carried out by the UAS as shown in FIG. 23.

At step 2910, the UAV may receive data of an emergency situation. Thedata may comprise GPS coordinates and a categorization of the emergencysituation. For example, the emergency situation may be an immobilizedcar on a road, and the data may indicate the location and type of car.

At step 2920, the UAV may navigate to the emergency situation. In someexamples, the UAV may navigate to a scene of a traffic accidentimmediately after police receive an emergency call.

At step 2930, the UAV may assess conditions around the emergencysituation. In some examples, the UAV may take pictures of the scene of atraffic accident and send data to a control center for determination ofexistence of emergency situation. In other examples, the UAV may analyzethe pictures and use machine vision algorithms to determine theexistence of the emergency situation. In other examples, the UAV maydetermine that the road is blocked by an immobilized car by analyzingtraffic flow data. The UAV may also determine the extent of the accidentby counting the number of cars that are not moving around the accident.

At step 2940, the UAV may create data for display on a vehiclenavigation system or communication device. In some examples, the UAV maycollect data including a location and nature of the emergency situationusing one or more sensors to create data visualizing the condition ofthe emergency situation. Such data may be reformatted for display on avehicle navigation system to alert a driver of presence of the emergencysituation (e.g., an immobilized car on a road). In other examples, theUAV may create data for display on a mobile phone. In other examples,the UAV may create data indicating the location and nature of theemergency situation and transmit the data to a communication device inapproaching vehicles. The communication device may interpret the dataand cause the vehicle to slow as it approaches the emergency situation.

FIG. 30 is a flowchart showing method 2300 of measuring physiologicalparameters of a person. For example, the method can be carried out asthe UAS shown in FIG. 9.

At step 3010, the UAV may navigate to a predetermined area. In someexamples, the UAV may navigate to a disaster-stricken area.

At step 3020, the UAV may search for a person or thing. In someexamples, the UAV may use facial recognition software and a camera tosearch for a stranded person.

At step 3030, the UAV may measure physiological parameters of theperson. For example, a robotic arm may be used to apply sensors to theperson and the sensors may transmit data indicating physiologicalparameters back to the UAV. In some examples, the UAV may be equippedwith thermometer, an O2 monitor, or the like, so that it can measurephysiological parameters, such as oxygenation saturation, bloodpressure, body temperature, and/or heart rate of the person.

The technologies described herein have many advantages in the field ofunmanned aerial vehicles. For example, prolonged inspection of powerlines in remote locations may be provided. UAVs may also quickly assessdamage to and repair power lines without the need for intervention.

Aspects of the embodiments and any of the methods described herein canbe performed by computer-executable instructions stored in one or morecomputer-readable media (storage or other tangible media) or stored inone or more compute readable storage devices, as described herein. Thecomputer-executable instructions can be organized into one or morecomputer-executable components or modules. Aspects of the embodimentscan be implemented with any number and organization of such componentsor modules. For example, aspects of the disclosed embodiments are notlimited to the specific computer-executable instructions or the specificcomponents or modules illustrated in the figures and described herein.Other embodiments may include different computer-executable instructionsor components having more or less functionality than illustrated anddescribed herein.

The order of execution or performance of the operations in the disclosedembodiments illustrated and described herein is not essential, unlessotherwise specified. That is, the operations can be performed in anyorder, unless otherwise specified, and embodiments can includeadditional or fewer operations than those disclosed herein. For example,it is contemplated that executing or performing a particular operationbefore, contemporaneously with, or after another operation is within thescope of aspects of the disclosed embodiments.

Having described the disclosed embodiments in detail, it will beapparent that modifications and variations are possible withoutdeparting from the scope of aspects as defined in the appended claims.For instance, elements of the illustrated embodiments may be implementedin software and/or hardware. In addition, the technologies from anyembodiment or example can be combined with the technologies described inany one or more of the other embodiments or examples. In view of themany possible embodiments to which the principles of the disclosedtechnology may be applied, it should be recognized that the illustratedembodiments are examples of the disclosed technology and should not betaken as a limitation on the scope of the disclosed technology.Therefore, it is intended that all matter contained in the abovedescription and shown in the accompanying drawings shall be interpretedas illustrative and not in a limiting sense.

1. An unmanned aerial system (UAS), comprising: an unmanned aerialvehicle (UAV); and a sensor.
 2. The UAS of claim 1, wherein the sensoris a ground penetrating sensor.
 3. The UAS of claim 1, wherein the UAVis configured to receive data from the sensor to determine a location ofa person or thing.
 4. The UAS of claim 3, wherein the thing is a naturalresource.
 5. The UAS of claim 3, wherein the location includes theunderground depth of the person or thing.
 6. The UAS of claim 1, whereinthe UAV is configured to receive power and data through Power OverEthernet (POE).
 7. The UAS of claim 1, wherein the UAV is configured tomeasure physiological parameters of a person using a robotic arm.
 8. TheUAS of claim 7, wherein the UAV is configured to determine a severity ofan injury or disease.
 9. The UAS of claim 1, wherein the UAV isconfigured to detect an emergency situation.
 10. The UAS of claim 9,wherein the UAV is configured to transmit an alert to a vehicle, thealert indicating the location and nature of the emergency situation. 11.The UAS of claim 9, wherein the UAV is configured to obtain data of theemergency situation and transmit the data for reconstruction of thescene.
 12. A method of search and recovery by an unmanned aerial vehicle(UAV), the method comprising: navigating to an area; and searching for aperson or thing using one or more sensors.
 13. The method of claim 12,wherein the one or more sensors include a ground penetrating sensor. 14.The method of claim 12, further comprising recovering the person or thething using a carrying component.
 15. The method of claim 12, furthercomprising: scanning an area for a person in need of rescue using theone or more sensors; capturing data from the one or more sensors duringthe scanning; analyzing the captured data; determining, based on theanalyzed data, whether there is a person in need of rescue; anddetermining a location of the person in need of rescue, based on theanalyzed data.
 16. A method of emergency situation alert by a UAV, themethod comprising: navigating to an emergency situation; searching for aperson or thing using one or more sensors; assessing conditions aroundthe emergency situation; and creating data for display on a vehiclenavigation system or communication device to inform a user of theemergency situation.
 17. The method of claim 16, further comprisingreceiving data indicating the emergency situation.
 18. The method ofclaim 16, further comprising detecting the emergency situation using oneor more sensors.
 19. The method of claim 18, further comprisingdetermining a nature and a location of the emergency situation using theone or more sensors.
 20. The method of claim 16, further comprisingtransmitting data to notify a person or a vehicle of the emergencysituation.